<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
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	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author Russell Toris - rctoris@wpi.edu
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * A marker client that listens to a given marker topic.
<span class='line'>  7</span>  * 
<span class='line'>  8</span>  * Emits the following events:
<span class='line'>  9</span>  *  * 'change' - there was an update or change in the marker
<span class='line'> 10</span>  *  
<span class='line'> 11</span>  * @constructor
<span class='line'> 12</span>  * @param options - object with following keys:
<span class='line'> 13</span>  *   * ros - the ROSLIB.Ros connection handle
<span class='line'> 14</span>  *   * topic - the marker topic to listen to
<span class='line'> 15</span>  *   * tfClient - the TF client handle to use
<span class='line'> 16</span>  *   * rootObject (optional) - the root object to add this marker to
<span class='line'> 17</span>  */</span><span class="WHIT">
<span class='line'> 18</span> </span><span class="NAME">ROS3D.MarkerClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.topic</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.tfClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.tfClient</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.rootObject</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.rootObject</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Object3D</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> 
<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="COMM">// current marker that is displayed</span><span class="WHIT">
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.currentMarker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">null</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 28</span> 
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="COMM">// subscribe to the topic</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">rosTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 31</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 32</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'visualization_msgs/Marker'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">  </span><span class="NAME">rosTopic.subscribe</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">newMarker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.Marker</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 38</span> </span><span class="WHIT">      </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT">
<span class='line'> 39</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 40</span> </span><span class="WHIT">    </span><span class="COMM">// check for an old marker</span><span class="WHIT">
<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">that.currentMarker</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">      </span><span class="NAME">that.rootObject.remove</span><span class="PUNC">(</span><span class="NAME">that.currentMarker</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 44</span> 
<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="NAME">that.currentMarker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.SceneNode</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 46</span> </span><span class="WHIT">      </span><span class="NAME">frameID</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.header.frame_id</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">      </span><span class="NAME">tfClient</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.tfClient</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">      </span><span class="NAME">object</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">newMarker</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 50</span> </span><span class="WHIT">    </span><span class="NAME">that.rootObject.add</span><span class="PUNC">(</span><span class="NAME">that.currentMarker</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 51</span> </span><span class="WHIT">    
<span class='line'> 52</span>     </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'change'</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 53</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="NAME">ROS3D.MarkerClient.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 56</span> </span></pre></body></html>